Journal of Jilin University(Engineering and Technology Edition) ›› 2026, Vol. 56 ›› Issue (8): 2127-2136.doi: 10.13229/j.cnki.jdxbgxb.20250066

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Driver⁃automation collaborative lateral control with consideration of driver group characteristics

Jun-hui ZHANG1,2,3,4(),Jie-lian DONG2,4,Mu-ning SUN1,4,Hao LI1,4,Jian-dong ZHENG1,4,Ying-jie HUANG1,4   

  1. 1.School of Electrical and Automatic Engineering，Suzhou University of Technology，Suzhou 215500，China
    2.Wuxi Internet of Things Innovation Center Co. ，Ltd. ，Wuxi 214029，China
    3.Jiangsu Engineering Research Center of Industrial Robot Complex Process Intelligent Control，Suzhou 215500，China
    4.Institute of Microelectronic Technology of Kunshan，Suzhou 215347，China
  • Received:2025-01-19 Online:2026-08-01 Published:2026-09-02

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Abstract:

In order to enhance the friendliness of driver-automation cooperative lateral control system， a novel shared lateral control algorithm considering driver group characteristics was proposed. Firstly， a driver imitated steering model was introduced， and then the linear-varying closed-loop driver-vehicle-road model was established. Secondly， for the purpose of handling disturbance factors such as time-varying model parameters， large road curvature， and the insufficient adaptation of linearization of nonlinear vehicle dynamics， a predictive controller based on linear time-varying model predictive control （LTV-MPC） framework was designed. Thirdly， a driver-automation cooperative factor model was constructed according to the aggregate lateral error as well as lateral offset sensitivity of different driver groups， aiming to achieve differentiation adjustment of the intervention or assistance degree from the intelligent system during the co-driving. Finally， the comparative experimental results demonstrate that the shared lateral control algorithm exhibits excellent group adaptability and enhances driver-automation friendliness while ensuring path-tracking accuracy.

Key words: intelligent vehicle, shared autonomy, LTV-MPC control, collaborative factor, driver group characteristics

CLC Number: 

  • U461

Fig.1

Single point preview based vehicle-road model"

Fig.2

Enhanced driver steering model"

Fig.3

Driver-automation collaborative lateral control system design"

Fig.4

Collaborative factor model for different driver groups"

Table 1

Parameters of vehicle dynamics"

参 数数值
整车质量m/kg1 650
质心绕z轴的转动惯量Iz /（kg?m2）3 234
前轴与车辆质心之间的距离a/m1.4
后轴与车辆质心之间的距离b/m1.65
车身宽度/m1.88
前轮的侧偏刚度Cf/（kN?rad-1）92
后轮的侧偏刚度Cr/（kN?rad-1）94
轮胎接触地面宽度ηt/m0.13
等效阻尼系数Bs/（N?m?s?rad-1）0.57
等效转动惯量Js/（kg?m2）0.05
转向传动比is16
道路宽度/m3.75

Fig.5

Driver-in-the-loop simulation platform and conditions"

Fig.6

Comparison of lateral deviations under different driving modes"

Fig.7

Comparison of driver-automation collaborative factors in co-driving mode"

Fig.8

Comparison of lateral deviations under different co-driving strategies"

Fig.9

Comparison of driver weights under different co-driving strategies"

Fig.10

Comparison of effective torques from intelligent system under different co-driving strategies"

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